static void init(STEPPER_MOTOR* stepper){
POLOLU_A4983* motor = (POLOLU_A4983*)stepper;
// Make pins into outputs with initial values
pin_make_output(motor->direction, FALSE);// clockwise
pin_make_output(motor->enable, TRUE); // disconnected
pin_make_output(motor->pulse, FALSE);
pin_make_output(motor->reset, FALSE); // start reset the device
pin_make_output(motor->reset, TRUE); // end reset the device - will now respond to pulses
}
void speechInit(const IOPin* pin){
pin_make_output(pin,FALSE);
// Activate non-inverted PWM on the hardware pin
TCCR1A |= (BV( COM1B0) << 1);
}
// Now create any global variables such as motors, servos, sensors etc
// This routine is called once only and allows you to do set up the hardware
// Dont use any 'clock' functions here - use 'delay' functions instead
void appInitHardware(void){
a2dSetPrescaler(ADC_PRESCALE_DIV128);
cyrf6936_Initialise_hard();
// Initialise SPI bus as master. (RF modules connected to hardware SPI)
spiBusInit(&bus, TRUE);
spiDeviceSelect(&cyrf_0, TRUE);
spiDeviceSelect(&cyrf_0, FALSE);
spiDeviceSelect(&cyrf_1, TRUE);
spiDeviceSelect(&cyrf_1, FALSE);
// set I/O pins for RF module(s).
pin_make_input(D4, FALSE); // set PACTL pin to input. (module on connector J1)
pin_make_input(D5, FALSE); // set PACTLn pin to input. (module on connector J1)
pin_make_input(D6, FALSE); // set PACTL pin to input. (module on connector J2)
pin_make_input(D7, FALSE); // set PACTLn pin to input. (module on connector J2)
#ifdef RF_MODULE_ARTAFLEX
//
pin_make_output(D4, FALSE); // set RXPA pin to output. (module on connector J1)
pin_make_output(D5, FALSE); // set TXPA pin to output. (module on connector J1)
pin_make_output(D6, FALSE); // set RXPA pin to output. (module on connector J2)
pin_make_output(D7, FALSE); // set TXPA pin to output. (module on connector J2)
#endif
pin_make_input(E7, TRUE); // set UNIGEN RF module IRQ pin to input. (module on connector J1)
pin_make_input(E6, TRUE); // set UNIGEN RF module IRQ pin to input. (module on connector J2)
pin_make_output(G3, FALSE); // set UNIGEN RF module RST pin to output. (both modules)
//pin_low(G3); // don't reset yet.
// set I/O pins for status LEDs
pin_make_output(C0, TRUE); // set LED pin for output
pin_make_output(C1, TRUE); // set LED pin for output
pin_make_output(C2, FALSE); // set LED pin for output
//pin_high(C0); // LED off
//pin_high(C1); // LED off
//pin_low(C2); // LED on
// Set UART1 to 19200 baud
uartInit(UART1, 38400);
// Tell rprintf to output to UART1
rprintfInit(&uart1SendByte);
// Initialise the servo controller using Hardware PWM
servoPWMInit(&bank1);
// Initialise WatchDog Timer
wdt_enable( WDTO_500MS );
}
//------------- Private methods - dont call directly -----
static void __spiSWInit(SPI_ABSTRACT_BUS* _spi, boolean master){
SPI_SW* spi = (SPI_SW*)_spi;
if(master){
pin_make_output(spi->MOSI, TRUE); // make MOSI an output and set high
pin_make_input(spi->MISO,TRUE); // make MISO an input with a pullup
}else{
pin_make_input(spi->SCLK,FALSE); // make clock an input with no pullup
pin_make_input(spi->MOSI,FALSE); // make MOSI an input with no pullup
pin_make_output(spi->MISO,TRUE); // make MISO an output
}
__spiSWSetClock(_spi,_spi->clock);
__spiSWSetDataOrder(_spi,_spi->order);
__spiSWSetMode(_spi,_spi->mode);
}
static void setConnected(__ACTUATOR *actuator, boolean connected){
MOTOR* motor = (MOTOR*)actuator;
const TimerCompare* channel = compareFromIOPin(motor->pwm);
// Turn on/off the pin to start/stop sending PWM
// reverts to default output logic level of low
compareSetOutputMode(channel, (connected) ? CHANNEL_MODE_NON_INVERTING : CHANNEL_MODE_DISCONNECT);
pin_make_output(motor->direction1,FALSE);
}
// Set up PWM on the given pin
boolean pwmInitDeciHertz(const IOPin* pin, uint32_t deciHertz, PERCENTAGE duty, uint32_t* actualDeciHertz){
boolean rtn = FALSE;
const TimerCompare* channel = compareFromIOPin(pin);
if(channel==null){
setError(PWM_PIN_NOT_AVAILABLE);
}else{
// The pin is valid
// The pin is valid and available
TIMER_MODE mode;
uint16_t icr;
uint16_t prescaler;
uint32_t actual;
const Timer* timer = compareGetTimer(channel);
// Find the best PWM setting
boolean valid = timerCalcPwm(timer, deciHertz, 100, &mode, &icr, &prescaler, &actual);
if(!valid){
// There is no PWM setting that is valid
setError( (timerIsInUse(timer)) ? PWM_TIMER_IN_USE : TIMER_HAS_NO_PWM );
}else{
// Lets set up the PWM
timerSetMode(timer,mode);
if(modeIsICR(mode)){
// Set the ICR
PORT icrPort = pgm_read_word(&timer->pgm_icr);
_SFR_MEM16(icrPort)=icr;
}
// Mark the channel as in use
// compareAttach(channel,&nullTimerCompareCallback,0,null);
// Turn the pin into an output, low
pin_make_output(pin, FALSE);
// Turn on the PWM pin output
compareSetOutputMode(channel, CHANNEL_MODE_NON_INVERTING);
// Turn on the timer
timerSetPrescaler(timer,prescaler);
// Set the initial duty cycle
pwmSetDutyCycle(pin,duty);
// Set the return value
if(actualDeciHertz){
*actualDeciHertz = actual;
}
rtn = TRUE;
}
}
return rtn;
}
static void init(SEGLED* led){
if(!led->initialised){
for(uint8_t i=0; i<8;i++){
const IOPin* pin = led->segment[i];
pin_make_output(pin,FALSE);
}
led->initialised=TRUE;
}
}
// Pass the list of motors, the list should be in PROGMEM space to save Flash RAM
// The specified Timer must implement timer compare interrupts and, if so, it will
// use the timer compare channel A (if there is more than one)
void motorL293Init(MOTOR_DRIVER* driver, uint32_t freq){
// Make sure each servo is set as an output
for(int i= driver->num_motors-1;i>=0;i--){
MOTOR* motor = (MOTOR*)pgm_read_word(&driver->motors[i]);
// Connect motor to driver
motor->actuator.sclass = &c_l293;
// Make sure the motor pins are set as output pins
pin_make_output(motor->pwm, FALSE);
pin_make_output(motor->direction1, FALSE);
pin_make_output(motor->direction2, FALSE);
// Start off braking
act_setSpeed(motor,DRIVE_SPEED_BRAKE);
// Indicate the motor is connected
act_setConnected(motor,TRUE);
}
}
static boolean initPWM(const IOPin* pin, uint32_t deciHertz){
const TimerCompare* channel = compareFromIOPin(pin);
if(channel==null){
setError(PWM_PIN_NOT_AVAILABLE);
return FALSE;
}
if(compareIsInUse(channel)){
setError(PWM_PIN_IN_USE);
return FALSE;
}
TIMER_MODE mode;
uint16_t icr;
uint16_t prescaler;
const Timer* timer = compareGetTimer(channel);
// Find the best PWM setting for 10kHz, with 128 steps
boolean valid = timerCalcPwm(timer, deciHertz, 128, &mode, &icr, &prescaler);
if(!valid){
// There is no PWM setting that is valid
setError( (timerIsInUse(timer)) ? PWM_TIMER_IN_USE : TIMER_HAS_NO_PWM );
}else{
// Lets set up the PWM
if(!timerIsInUse(timer)){
timerSetMode(timer,mode);
if(modeIsICR(mode)){
// Set the ICR
PORT icrPort = pgm_read_word(&timer->pgm_icr);
_SFR_MEM16(icrPort)=icr;
}
}
// Make it an output pin and set high for brake
pin_make_output(pin,TRUE);
// Use inverting PWM
compareSetOutputMode(channel,CHANNEL_MODE_INVERTING);
// Mark the channels as in use
compareAttach(channel,&nullTimerCompareCallback,0,null);
// Do this last as it then turns on the timer
timerSetPrescaler(timer,prescaler);
}
return valid;
}
// Read all the values and store into the device
static void __srf04_read(SENSOR* sensor){
TICK_COUNT duration;
Devantech_SRF04* device = (Devantech_SRF04*)sensor;
// initialise the pins
pin_make_output(device->out,FALSE); // Set low
pin_make_input(device->in,FALSE);
// 10us high trigger pulse
pin_pulseOut(device->out,10,TRUE);
// Measure the inbound pulse
duration = pin_pulseIn(device->in,TRUE);
device->distance.cm = fraction32(duration, srf04_frac);
}
// Call back - for when the speed has been set
static void setSpeed(__ACTUATOR *actuator, DRIVE_SPEED speed){
MOTOR* motor = (MOTOR*)actuator;
const TimerCompare* channel = compareFromIOPin(motor->pwm);
const Timer* timer = compareGetTimer(channel);
uint16_t top = timerGetTOP(timer);
// New compare threshold
uint16_t delay=0;
if( speed > 0 ){
delay = interpolateU(speed, 0, DRIVE_SPEED_MAX, 0 , top);
if(motor->direction2==null){
// one wire so delay = top - delay
delay = top - delay;
}
// Set direction1 high, direction2 low (if there is one)
pin_make_output(motor->direction1,TRUE);
pin_make_output(motor->direction2,FALSE);
}else if(speed < 0){
delay = interpolateU(speed, 0, DRIVE_SPEED_MIN, 0 , top);
// Set direction1 low, direction2 high (if there is one)
pin_make_output(motor->direction1,FALSE);
pin_make_output(motor->direction2,TRUE);
}else{
// brake
if(motor->direction2){
// There are two direction pins - so set both to same value
pin_make_output(motor->direction1,FALSE);
pin_make_output(motor->direction2,FALSE);
delay = top; // full speed brake
}else{
// Only has one direction pin
// Set direction1 low
pin_make_output(motor->direction1,FALSE);
// PWM delay = 0 so pwm = low
// ie both low = brake
}
}
// Change the duty cycle
compareSetThreshold(channel,delay);
}
// Call back - for when the speed has been set
static void setSpeed(__ACTUATOR *actuator, DRIVE_SPEED speed){
MOTOR* motor = (MOTOR*)actuator;
const TimerCompare* channel = compareFromIOPin(motor->pwm);
const Timer* timer = compareGetTimer(channel);
uint16_t top = timerGetTOP(timer);
// New compare threshold
uint16_t delay=0;
if( speed > 0 ){
delay = interpolateU(speed, 0, DRIVE_SPEED_MAX, 0 , top);
// Set direction1 high, direction2 low
pin_make_output(motor->direction1,TRUE);
pin_make_output(motor->direction2,FALSE);
}else if(speed < 0){
delay = interpolateU(speed, 0, DRIVE_SPEED_MIN, 0 , top);
// Set direction1 low, direction2 high low
pin_make_output(motor->direction1,FALSE);
pin_make_output(motor->direction2,TRUE);
}else{
// brake
if(motor->direction2){
// There are two direction pins - so set both to same value
pin_make_output(motor->direction1,FALSE);
pin_make_output(motor->direction2,FALSE);
}else{
// Only has one direction pin
// Set direction1 to an input with no pullup ie disconnect
pin_make_input(motor->direction1,FALSE);
}
}
// Change the duty cycle
compareSetThreshold(channel,delay);
}
// Make all databus pins into outputs
static void databus_output(const HD44780* device){
for(uint8_t i=0; i<8; i++){
pin_make_output(device->data[i],TRUE);
}
}
// Make the data line low
static void sda_low(const I2C_SOFTWARE_BUS* i2c){
pin_make_output(i2c->sda,FALSE);
}
static void __spiSWSetMode(SPI_ABSTRACT_BUS* _spi,SPI_MODE mode){
SPI_SW* spi = (SPI_SW*)_spi;
// Set the clock to its initial state
pin_make_output(spi->SCLK, (mode == SPI_MODE_2 || mode == SPI_MODE_3));
}